robosense_lidar.dag

# Define all coms in DAG streaming.

module_config {                                             
  module_library : "/apollo/bazel-bin/modules/drivers/lidar/liblidar_driver_component.so"
  components {
    class_name : "LidarDriverComponent"
    config {
      name : "lidar_driver"
      config_file_path : "/apollo/modules/drivers/lidar/conf/lidar_config.pb.txt"
      readers {channel: "/apollo/sensor/lidar/driver"}
    }
  }
}
module_config {
    module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/compensator/libvelodyne_compensator_component.so"
    components {
      class_name : "CompensatorComponent"
      config {
        name : "RS16_Compensator"
        config_file_path : "/apollo/modules/drivers/lidar/robosense/conf/rs16_compensator.pb.txt"
        readers {channel: "/apollo/sensor/rs16/PointCloud2"}
      }
    }
}